Transactions of The Korea Fluid Power Systems Society (유공압시스템학회논문집)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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A Study on Brake Gain Adaptive Wheel Slip Control

브레이크 게인 적응 휠 슬립 제어에 관한 연구

  • 조준상 (서울대학교 기계항공공학부) ;
  • 유승진 (서울대학교 기계항공공학부) ;
  • 이교일 (서울대학교 기계항공공학부)
  • Published : 2007.03.01
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Abstract

The brake gain adaptive wheel slip controller for a vehicle is designed in this paper. The brake gain from braking pressure to braking torque defined by friction coefficient, friction area and effective friction radius is estimated by the adaptive law based on the wheel slip dynamics. And the wheel slip controller is designed based on the estimated brake gain. The robustness of the designed controller is analyzed using Lyapunov function and the convergence of brake gain is verified. Proposed wheel slip controller is verified via CarSim simulation with two kinds of desired wheel slip ratio.

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